/*
 * File: Ctrl.h
 *
 * Code generated for Simulink model 'Ctrl'.
 *
 * Model version                  : 1.559
 * Simulink Coder version         : 8.2 (R2012a) 29-Dec-2011
 * TLC version                    : 8.2 (Dec 29 2011)
 * C/C++ source code generated on : Wed Jun 27 17:36:40 2012
 *
 * Target selection: ert.tlc
 * Embedded hardware selection: Texas Instruments->C2000
 * Code generation objectives: Unspecified
 * Validation result: Not run
 */

#ifndef RTW_HEADER_Ctrl_h_
#define RTW_HEADER_Ctrl_h_
#ifndef Ctrl_COMMON_INCLUDES_
# define Ctrl_COMMON_INCLUDES_
#include <stddef.h>
#include <math.h>
#include <string.h>
#include "rtwtypes.h"
#endif                                 /* Ctrl_COMMON_INCLUDES_ */

#include "Ctrl_types.h"

/* Macros for accessing real-time model data structure */
#ifndef rtmGetErrorStatus
# define rtmGetErrorStatus(rtm)        ((rtm)->errorStatus)
#endif

#ifndef rtmSetErrorStatus
# define rtmSetErrorStatus(rtm, val)   ((rtm)->errorStatus = (val))
#endif

/* Block signals for system '<S17>/Correct Yaw' */
typedef struct {
  real32_T y;                          /* '<S17>/Correct Yaw' */
} rtB_CorrectYaw_Ctrl;

/* Block signals (auto storage) */
typedef struct {
  real32_T PWM1;                       /* '<S1>/Merge' */
  real32_T PWM2;                       /* '<S1>/Merge' */
  real32_T PWM3;                       /* '<S1>/Merge' */
  real32_T PWM4;                       /* '<S1>/Merge' */
  uint32_T AMode;                      /* '<S1>/Chart' */
  boolean_T Failed;                    /* '<S1>/Chart' */
  boolean_T CtrlOff;                   /* '<S1>/Chart' */
  boolean_T CtrlRate;                  /* '<S1>/Chart' */
  boolean_T CtrlRollPitch;             /* '<S1>/Chart' */
  boolean_T CtrlAlt;                   /* '<S1>/Chart' */
  boolean_T CtrlAuto;                  /* '<S1>/Chart' */
  rtB_CorrectYaw_Ctrl sf_CorrectYaw_e; /* '<S41>/Correct Yaw' */
  rtB_CorrectYaw_Ctrl sf_CorrectYaw;   /* '<S17>/Correct Yaw' */
} BlockIO_Ctrl;

/* Block states (auto storage) for system '<Root>' */
typedef struct {
  real32_T DiscreteFIRFilter_states[9];/* '<S4>/Discrete FIR Filter' */
  real32_T DiscreteFIRFilter1_states[9];/* '<S4>/Discrete FIR Filter1' */
  real32_T DiscreteFIRFilter2_states[9];/* '<S4>/Discrete FIR Filter2' */
  real32_T Filter_DSTATE;              /* '<S73>/Filter' */
  real32_T Integrator_DSTATE;          /* '<S72>/Integrator' */
  real32_T Filter_DSTATE_d;            /* '<S72>/Filter' */
  real32_T Integrator_DSTATE_j;        /* '<S78>/Integrator' */
  real32_T Filter_DSTATE_c;            /* '<S76>/Filter' */
  real32_T Integrator_DSTATE_i;        /* '<S75>/Integrator' */
  real32_T Filter_DSTATE_e;            /* '<S75>/Filter' */
  real32_T Integrator_DSTATE_jw;       /* '<S63>/Integrator' */
  real32_T Filter_DSTATE_a;            /* '<S63>/Filter' */
  real32_T Integrator_DSTATE_g;        /* '<S67>/Integrator' */
  real32_T Integrator_DSTATE_gl;       /* '<S65>/Integrator' */
  real32_T Filter_DSTATE_f;            /* '<S65>/Filter' */
  real32_T Filter_DSTATE_ed;           /* '<S50>/Filter' */
  real32_T Filter_DSTATE_dt;           /* '<S55>/Filter' */
  real32_T Filter_DSTATE_c3;           /* '<S49>/Filter' */
  real32_T Filter_DSTATE_al;           /* '<S54>/Filter' */
  real32_T Filter_DSTATE_cm;           /* '<S52>/Filter' */
  real32_T Integrator_DSTATE_k;        /* '<S51>/Integrator' */
  real32_T Filter_DSTATE_cj;           /* '<S51>/Filter' */
  real32_T Integrator_DSTATE_e;        /* '<S57>/Integrator' */
  real32_T Filter_DSTATE_ds;           /* '<S47>/Filter' */
  real32_T Integrator_DSTATE_kk;       /* '<S46>/Integrator' */
  real32_T Filter_DSTATE_n;            /* '<S46>/Filter' */
  real32_T Filter_DSTATE_di;           /* '<S29>/Filter' */
  real32_T Filter_DSTATE_k;            /* '<S28>/Filter' */
  real32_T Filter_DSTATE_c3b;          /* '<S26>/Filter' */
  real32_T Integrator_DSTATE_b;        /* '<S25>/Integrator' */
  real32_T Filter_DSTATE_g;            /* '<S25>/Filter' */
  real32_T Integrator_DSTATE_l;        /* '<S31>/Integrator' */
  real32_T Filter_DSTATE_m;            /* '<S23>/Filter' */
  real32_T Integrator_DSTATE_n;        /* '<S22>/Integrator' */
  real32_T Filter_DSTATE_fe;           /* '<S22>/Filter' */
  int32_T DiscreteFIRFilter_circBuf;   /* '<S4>/Discrete FIR Filter' */
  int32_T DiscreteFIRFilter1_circBuf;  /* '<S4>/Discrete FIR Filter1' */
  int32_T DiscreteFIRFilter2_circBuf;  /* '<S4>/Discrete FIR Filter2' */
  real32_T Xk[2];                      /* '<S2>/Embedded MATLAB Function2' */
  real32_T Pk[4];                      /* '<S2>/Embedded MATLAB Function2' */
  uint16_T is_active_c1_Ctrl;          /* '<S1>/Chart' */
  uint16_T is_Online;                  /* '<S1>/Chart' */
  uint16_T is_active_SystemLogic;      /* '<S1>/Chart' */
  uint16_T is_SystemLogic;             /* '<S1>/Chart' */
  boolean_T AltCtrl_MODE;              /* '<S1>/AltCtrl' */
  boolean_T AutoCtrl_MODE;             /* '<S1>/AutoCtrl' */
  boolean_T RateCtrl_MODE;             /* '<S1>/RateCtrl' */
  boolean_T RollPitchCtrl_MODE;        /* '<S1>/RollPitchCtrl' */
} D_Work_Ctrl;

/* External inputs (root inport signals with auto storage) */
typedef struct {
  real32_T Roll;                       /* '<Root>/Roll' */
  real32_T Pitch;                      /* '<Root>/Pitch' */
  real32_T Yaw;                        /* '<Root>/Yaw' */
  real32_T Throttle;                   /* '<Root>/Throttle' */
  uint32_T Mode;                       /* '<Root>/Mode' */
  boolean_T AckErrr;                   /* '<Root>/AckErrr' */
  real32_T XeXRef;                     /* '<Root>/XeXRef' */
  real32_T XeYRef;                     /* '<Root>/XeYRef' */
  real32_T RPY[3];                     /* '<Root>/RPY' */
  real32_T omega[3];                   /* '<Root>/omega' */
  real32_T FlatVe[2];                  /* '<Root>/FlatVe' */
  real32_T FlatXe[2];                  /* '<Root>/FlatXe' */
  real32_T SonicM;                     /* '<Root>/SonicM' */
  real32_T PressureAbs;                /* '<Root>/PressureAbs' */
  real32_T MagXYZ[3];                  /* '<Root>/MagXYZ' */
} ExternalInputs_Ctrl;

/* External outputs (root outports fed by signals with auto storage) */
typedef struct {
  uint32_T ActualMode;                 /* '<Root>/ActualMode' */
  boolean_T Failed;                    /* '<Root>/Failed' */
  real32_T PWM1;                       /* '<Root>/PWM1' */
  real32_T PWM2;                       /* '<Root>/PWM2' */
  real32_T PWM3;                       /* '<Root>/PWM3' */
  real32_T PWM4;                       /* '<Root>/PWM4' */
  real32_T MagYaw;                     /* '<Root>/MagYaw' */
  real32_T AltF;                       /* '<Root>/AltF' */
  real32_T VertSpeed;                  /* '<Root>/VertSpeed' */
} ExternalOutputs_Ctrl;

/* Parameters (auto storage) */
struct Parameters_Ctrl_ {
  real32_T DLookupTable_tableData[4];  /* Computed Parameter: DLookupTable_tableData
                                        * Referenced by: '<S3>/1-D Lookup Table'
                                        */
  real32_T DLookupTable_bp01Data[4];   /* Computed Parameter: DLookupTable_bp01Data
                                        * Referenced by: '<S3>/1-D Lookup Table'
                                        */
  real32_T VeScaler_Gain;              /* Computed Parameter: VeScaler_Gain
                                        * Referenced by: '<S16>/Ve Scaler'
                                        */
  real32_T ProportionalGain_Gain;      /* Computed Parameter: ProportionalGain_Gain
                                        * Referenced by: '<S29>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain;        /* Computed Parameter: DerivativeGain_Gain
                                        * Referenced by: '<S29>/Derivative Gain'
                                        */
  real32_T Filter_gainval;             /* Computed Parameter: Filter_gainval
                                        * Referenced by: '<S29>/Filter'
                                        */
  real32_T Filter_IC;                  /* Computed Parameter: Filter_IC
                                        * Referenced by: '<S29>/Filter'
                                        */
  real32_T FilterCoefficient_Gain;     /* Computed Parameter: FilterCoefficient_Gain
                                        * Referenced by: '<S29>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat;        /* Computed Parameter: Saturation_UpperSat
                                        * Referenced by: '<S29>/Saturation'
                                        */
  real32_T Saturation_LowerSat;        /* Computed Parameter: Saturation_LowerSat
                                        * Referenced by: '<S29>/Saturation'
                                        */
  real32_T VeScaler1_Gain;             /* Computed Parameter: VeScaler1_Gain
                                        * Referenced by: '<S16>/Ve Scaler1'
                                        */
  real32_T ProportionalGain_Gain_a;    /* Computed Parameter: ProportionalGain_Gain_a
                                        * Referenced by: '<S28>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_i;      /* Computed Parameter: DerivativeGain_Gain_i
                                        * Referenced by: '<S28>/Derivative Gain'
                                        */
  real32_T Filter_gainval_n;           /* Computed Parameter: Filter_gainval_n
                                        * Referenced by: '<S28>/Filter'
                                        */
  real32_T Filter_IC_k;                /* Computed Parameter: Filter_IC_k
                                        * Referenced by: '<S28>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_i;   /* Computed Parameter: FilterCoefficient_Gain_i
                                        * Referenced by: '<S28>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_n;      /* Computed Parameter: Saturation_UpperSat_n
                                        * Referenced by: '<S28>/Saturation'
                                        */
  real32_T Saturation_LowerSat_m;      /* Computed Parameter: Saturation_LowerSat_m
                                        * Referenced by: '<S28>/Saturation'
                                        */
  real32_T Scaleroll2_Gain;            /* Computed Parameter: Scaleroll2_Gain
                                        * Referenced by: '<S15>/Scale roll2'
                                        */
  real32_T ProportionalGain_Gain_c;    /* Computed Parameter: ProportionalGain_Gain_c
                                        * Referenced by: '<S26>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_h;      /* Computed Parameter: DerivativeGain_Gain_h
                                        * Referenced by: '<S26>/Derivative Gain'
                                        */
  real32_T Filter_gainval_e;           /* Computed Parameter: Filter_gainval_e
                                        * Referenced by: '<S26>/Filter'
                                        */
  real32_T Filter_IC_d;                /* Computed Parameter: Filter_IC_d
                                        * Referenced by: '<S26>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_is;  /* Computed Parameter: FilterCoefficient_Gain_is
                                        * Referenced by: '<S26>/Filter Coefficient'
                                        */
  real32_T ProportionalGain_Gain_a5;   /* Computed Parameter: ProportionalGain_Gain_a5
                                        * Referenced by: '<S25>/Proportional Gain'
                                        */
  real32_T Integrator_gainval;         /* Computed Parameter: Integrator_gainval
                                        * Referenced by: '<S25>/Integrator'
                                        */
  real32_T Integrator_IC;              /* Computed Parameter: Integrator_IC
                                        * Referenced by: '<S25>/Integrator'
                                        */
  real32_T DerivativeGain_Gain_e;      /* Computed Parameter: DerivativeGain_Gain_e
                                        * Referenced by: '<S25>/Derivative Gain'
                                        */
  real32_T Filter_gainval_h;           /* Computed Parameter: Filter_gainval_h
                                        * Referenced by: '<S25>/Filter'
                                        */
  real32_T Filter_IC_i;                /* Computed Parameter: Filter_IC_i
                                        * Referenced by: '<S25>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_e;   /* Computed Parameter: FilterCoefficient_Gain_e
                                        * Referenced by: '<S25>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_g;      /* Computed Parameter: Saturation_UpperSat_g
                                        * Referenced by: '<S25>/Saturation'
                                        */
  real32_T Saturation_LowerSat_mp;     /* Computed Parameter: Saturation_LowerSat_mp
                                        * Referenced by: '<S25>/Saturation'
                                        */
  real32_T Scaleroll_Gain;             /* Computed Parameter: Scaleroll_Gain
                                        * Referenced by: '<S15>/Scale roll'
                                        */
  real32_T Scaleroll2_Gain_i;          /* Computed Parameter: Scaleroll2_Gain_i
                                        * Referenced by: '<S17>/Scale roll2'
                                        */
  real32_T ProportionalGain_Gain_e;    /* Computed Parameter: ProportionalGain_Gain_e
                                        * Referenced by: '<S32>/Proportional Gain'
                                        */
  real32_T Saturation_UpperSat_i;      /* Computed Parameter: Saturation_UpperSat_i
                                        * Referenced by: '<S32>/Saturation'
                                        */
  real32_T Saturation_LowerSat_n;      /* Computed Parameter: Saturation_LowerSat_n
                                        * Referenced by: '<S32>/Saturation'
                                        */
  real32_T ProportionalGain_Gain_m;    /* Computed Parameter: ProportionalGain_Gain_m
                                        * Referenced by: '<S31>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_i;       /* Computed Parameter: Integrator_gainval_i
                                        * Referenced by: '<S31>/Integrator'
                                        */
  real32_T Integrator_IC_c;            /* Computed Parameter: Integrator_IC_c
                                        * Referenced by: '<S31>/Integrator'
                                        */
  real32_T Saturation_UpperSat_p;      /* Computed Parameter: Saturation_UpperSat_p
                                        * Referenced by: '<S31>/Saturation'
                                        */
  real32_T Saturation_LowerSat_nb;     /* Computed Parameter: Saturation_LowerSat_nb
                                        * Referenced by: '<S31>/Saturation'
                                        */
  real32_T Scaleyaw_Gain;              /* Computed Parameter: Scaleyaw_Gain
                                        * Referenced by: '<S17>/Scale yaw'
                                        */
  real32_T InvertPitchref1_Gain;       /* Computed Parameter: InvertPitchref1_Gain
                                        * Referenced by: '<S16>/Invert Pitch ref1'
                                        */
  real32_T Scalepitch1_Gain;           /* Computed Parameter: Scalepitch1_Gain
                                        * Referenced by: '<S14>/Scale pitch1'
                                        */
  real32_T ProportionalGain_Gain_o;    /* Computed Parameter: ProportionalGain_Gain_o
                                        * Referenced by: '<S23>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_g;      /* Computed Parameter: DerivativeGain_Gain_g
                                        * Referenced by: '<S23>/Derivative Gain'
                                        */
  real32_T Filter_gainval_i;           /* Computed Parameter: Filter_gainval_i
                                        * Referenced by: '<S23>/Filter'
                                        */
  real32_T Filter_IC_dg;               /* Computed Parameter: Filter_IC_dg
                                        * Referenced by: '<S23>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_j;   /* Computed Parameter: FilterCoefficient_Gain_j
                                        * Referenced by: '<S23>/Filter Coefficient'
                                        */
  real32_T ProportionalGain_Gain_h;    /* Computed Parameter: ProportionalGain_Gain_h
                                        * Referenced by: '<S22>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_n;       /* Computed Parameter: Integrator_gainval_n
                                        * Referenced by: '<S22>/Integrator'
                                        */
  real32_T Integrator_IC_g;            /* Computed Parameter: Integrator_IC_g
                                        * Referenced by: '<S22>/Integrator'
                                        */
  real32_T DerivativeGain_Gain_d;      /* Computed Parameter: DerivativeGain_Gain_d
                                        * Referenced by: '<S22>/Derivative Gain'
                                        */
  real32_T Filter_gainval_j;           /* Computed Parameter: Filter_gainval_j
                                        * Referenced by: '<S22>/Filter'
                                        */
  real32_T Filter_IC_ko;               /* Computed Parameter: Filter_IC_ko
                                        * Referenced by: '<S22>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_d;   /* Computed Parameter: FilterCoefficient_Gain_d
                                        * Referenced by: '<S22>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_gy;     /* Computed Parameter: Saturation_UpperSat_gy
                                        * Referenced by: '<S22>/Saturation'
                                        */
  real32_T Saturation_LowerSat_f;      /* Computed Parameter: Saturation_LowerSat_f
                                        * Referenced by: '<S22>/Saturation'
                                        */
  real32_T Scalepitch_Gain;            /* Computed Parameter: Scalepitch_Gain
                                        * Referenced by: '<S14>/Scale pitch'
                                        */
  real32_T Limit1_UpperSat;            /* Computed Parameter: Limit1_UpperSat
                                        * Referenced by: '<S3>/Limit1'
                                        */
  real32_T Limit1_LowerSat;            /* Computed Parameter: Limit1_LowerSat
                                        * Referenced by: '<S3>/Limit1'
                                        */
  real32_T Limit2_UpperSat;            /* Computed Parameter: Limit2_UpperSat
                                        * Referenced by: '<S3>/Limit2'
                                        */
  real32_T Limit2_LowerSat;            /* Computed Parameter: Limit2_LowerSat
                                        * Referenced by: '<S3>/Limit2'
                                        */
  real32_T Limit3_UpperSat;            /* Computed Parameter: Limit3_UpperSat
                                        * Referenced by: '<S3>/Limit3'
                                        */
  real32_T Limit3_LowerSat;            /* Computed Parameter: Limit3_LowerSat
                                        * Referenced by: '<S3>/Limit3'
                                        */
  real32_T Limit4_UpperSat;            /* Computed Parameter: Limit4_UpperSat
                                        * Referenced by: '<S3>/Limit4'
                                        */
  real32_T Limit4_LowerSat;            /* Computed Parameter: Limit4_LowerSat
                                        * Referenced by: '<S3>/Limit4'
                                        */
  real32_T IntegralGain_Gain;          /* Computed Parameter: IntegralGain_Gain
                                        * Referenced by: '<S22>/Integral Gain'
                                        */
  real32_T Constant_Value;             /* Computed Parameter: Constant_Value
                                        * Referenced by: '<S22>/Constant'
                                        */
  real32_T IntegralGain_Gain_i;        /* Computed Parameter: IntegralGain_Gain_i
                                        * Referenced by: '<S25>/Integral Gain'
                                        */
  real32_T Constant_Value_e;           /* Computed Parameter: Constant_Value_e
                                        * Referenced by: '<S25>/Constant'
                                        */
  real32_T IntegralGain_Gain_m;        /* Computed Parameter: IntegralGain_Gain_m
                                        * Referenced by: '<S31>/Integral Gain'
                                        */
  real32_T Constant_Value_g;           /* Computed Parameter: Constant_Value_g
                                        * Referenced by: '<S31>/Constant'
                                        */
  real32_T DLookupTable_tableData_d[4];/* Computed Parameter: DLookupTable_tableData_d
                                        * Referenced by: '<S5>/1-D Lookup Table'
                                        */
  real32_T DLookupTable_bp01Data_l[4]; /* Computed Parameter: DLookupTable_bp01Data_l
                                        * Referenced by: '<S5>/1-D Lookup Table'
                                        */
  real32_T ProportionalGain_Gain_ot;   /* Computed Parameter: ProportionalGain_Gain_ot
                                        * Referenced by: '<S50>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_j;      /* Computed Parameter: DerivativeGain_Gain_j
                                        * Referenced by: '<S50>/Derivative Gain'
                                        */
  real32_T Filter_gainval_m;           /* Computed Parameter: Filter_gainval_m
                                        * Referenced by: '<S50>/Filter'
                                        */
  real32_T Filter_IC_j;                /* Computed Parameter: Filter_IC_j
                                        * Referenced by: '<S50>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_db;  /* Computed Parameter: FilterCoefficient_Gain_db
                                        * Referenced by: '<S50>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_b;      /* Computed Parameter: Saturation_UpperSat_b
                                        * Referenced by: '<S50>/Saturation'
                                        */
  real32_T Saturation_LowerSat_b;      /* Computed Parameter: Saturation_LowerSat_b
                                        * Referenced by: '<S50>/Saturation'
                                        */
  real32_T ProportionalGain_Gain_oo;   /* Computed Parameter: ProportionalGain_Gain_oo
                                        * Referenced by: '<S55>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_n;      /* Computed Parameter: DerivativeGain_Gain_n
                                        * Referenced by: '<S55>/Derivative Gain'
                                        */
  real32_T Filter_gainval_g;           /* Computed Parameter: Filter_gainval_g
                                        * Referenced by: '<S55>/Filter'
                                        */
  real32_T Filter_IC_n;                /* Computed Parameter: Filter_IC_n
                                        * Referenced by: '<S55>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_p;   /* Computed Parameter: FilterCoefficient_Gain_p
                                        * Referenced by: '<S55>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_l;      /* Computed Parameter: Saturation_UpperSat_l
                                        * Referenced by: '<S55>/Saturation'
                                        */
  real32_T Saturation_LowerSat_nl;     /* Computed Parameter: Saturation_LowerSat_nl
                                        * Referenced by: '<S55>/Saturation'
                                        */
  real32_T ProportionalGain_Gain_ee;   /* Computed Parameter: ProportionalGain_Gain_ee
                                        * Referenced by: '<S49>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_hy;     /* Computed Parameter: DerivativeGain_Gain_hy
                                        * Referenced by: '<S49>/Derivative Gain'
                                        */
  real32_T Filter_gainval_mi;          /* Computed Parameter: Filter_gainval_mi
                                        * Referenced by: '<S49>/Filter'
                                        */
  real32_T Filter_IC_a;                /* Computed Parameter: Filter_IC_a
                                        * Referenced by: '<S49>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_b;   /* Computed Parameter: FilterCoefficient_Gain_b
                                        * Referenced by: '<S49>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_lj;     /* Computed Parameter: Saturation_UpperSat_lj
                                        * Referenced by: '<S49>/Saturation'
                                        */
  real32_T Saturation_LowerSat_na;     /* Computed Parameter: Saturation_LowerSat_na
                                        * Referenced by: '<S49>/Saturation'
                                        */
  real32_T ProportionalGain_Gain_n;    /* Computed Parameter: ProportionalGain_Gain_n
                                        * Referenced by: '<S54>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_nj;     /* Computed Parameter: DerivativeGain_Gain_nj
                                        * Referenced by: '<S54>/Derivative Gain'
                                        */
  real32_T Filter_gainval_iw;          /* Computed Parameter: Filter_gainval_iw
                                        * Referenced by: '<S54>/Filter'
                                        */
  real32_T Filter_IC_c;                /* Computed Parameter: Filter_IC_c
                                        * Referenced by: '<S54>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_iw;  /* Computed Parameter: FilterCoefficient_Gain_iw
                                        * Referenced by: '<S54>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_a;      /* Computed Parameter: Saturation_UpperSat_a
                                        * Referenced by: '<S54>/Saturation'
                                        */
  real32_T Saturation_LowerSat_d;      /* Computed Parameter: Saturation_LowerSat_d
                                        * Referenced by: '<S54>/Saturation'
                                        */
  real32_T Scaleroll2_Gain_l;          /* Computed Parameter: Scaleroll2_Gain_l
                                        * Referenced by: '<S39>/Scale roll2'
                                        */
  real32_T ProportionalGain_Gain_hr;   /* Computed Parameter: ProportionalGain_Gain_hr
                                        * Referenced by: '<S52>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_f;      /* Computed Parameter: DerivativeGain_Gain_f
                                        * Referenced by: '<S52>/Derivative Gain'
                                        */
  real32_T Filter_gainval_o;           /* Computed Parameter: Filter_gainval_o
                                        * Referenced by: '<S52>/Filter'
                                        */
  real32_T Filter_IC_o;                /* Computed Parameter: Filter_IC_o
                                        * Referenced by: '<S52>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_g;   /* Computed Parameter: FilterCoefficient_Gain_g
                                        * Referenced by: '<S52>/Filter Coefficient'
                                        */
  real32_T ProportionalGain_Gain_b;    /* Computed Parameter: ProportionalGain_Gain_b
                                        * Referenced by: '<S51>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_c;       /* Computed Parameter: Integrator_gainval_c
                                        * Referenced by: '<S51>/Integrator'
                                        */
  real32_T Integrator_IC_m;            /* Computed Parameter: Integrator_IC_m
                                        * Referenced by: '<S51>/Integrator'
                                        */
  real32_T DerivativeGain_Gain_o;      /* Computed Parameter: DerivativeGain_Gain_o
                                        * Referenced by: '<S51>/Derivative Gain'
                                        */
  real32_T Filter_gainval_p;           /* Computed Parameter: Filter_gainval_p
                                        * Referenced by: '<S51>/Filter'
                                        */
  real32_T Filter_IC_of;               /* Computed Parameter: Filter_IC_of
                                        * Referenced by: '<S51>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_l;   /* Computed Parameter: FilterCoefficient_Gain_l
                                        * Referenced by: '<S51>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_l0;     /* Computed Parameter: Saturation_UpperSat_l0
                                        * Referenced by: '<S51>/Saturation'
                                        */
  real32_T Saturation_LowerSat_k;      /* Computed Parameter: Saturation_LowerSat_k
                                        * Referenced by: '<S51>/Saturation'
                                        */
  real32_T Scaleroll_Gain_j;           /* Computed Parameter: Scaleroll_Gain_j
                                        * Referenced by: '<S39>/Scale roll'
                                        */
  real32_T Scaleroll2_Gain_n;          /* Computed Parameter: Scaleroll2_Gain_n
                                        * Referenced by: '<S41>/Scale roll2'
                                        */
  real32_T ProportionalGain_Gain_d;    /* Computed Parameter: ProportionalGain_Gain_d
                                        * Referenced by: '<S58>/Proportional Gain'
                                        */
  real32_T Saturation_UpperSat_f;      /* Computed Parameter: Saturation_UpperSat_f
                                        * Referenced by: '<S58>/Saturation'
                                        */
  real32_T Saturation_LowerSat_p;      /* Computed Parameter: Saturation_LowerSat_p
                                        * Referenced by: '<S58>/Saturation'
                                        */
  real32_T ProportionalGain_Gain_p;    /* Computed Parameter: ProportionalGain_Gain_p
                                        * Referenced by: '<S57>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_p;       /* Computed Parameter: Integrator_gainval_p
                                        * Referenced by: '<S57>/Integrator'
                                        */
  real32_T Integrator_IC_k;            /* Computed Parameter: Integrator_IC_k
                                        * Referenced by: '<S57>/Integrator'
                                        */
  real32_T Saturation_UpperSat_m;      /* Computed Parameter: Saturation_UpperSat_m
                                        * Referenced by: '<S57>/Saturation'
                                        */
  real32_T Saturation_LowerSat_fd;     /* Computed Parameter: Saturation_LowerSat_fd
                                        * Referenced by: '<S57>/Saturation'
                                        */
  real32_T Scaleyaw_Gain_i;            /* Computed Parameter: Scaleyaw_Gain_i
                                        * Referenced by: '<S41>/Scale yaw'
                                        */
  real32_T InvertPitchref1_Gain_b;     /* Computed Parameter: InvertPitchref1_Gain_b
                                        * Referenced by: '<S40>/Invert Pitch ref1'
                                        */
  real32_T Scalepitch1_Gain_o;         /* Computed Parameter: Scalepitch1_Gain_o
                                        * Referenced by: '<S37>/Scale pitch1'
                                        */
  real32_T ProportionalGain_Gain_f;    /* Computed Parameter: ProportionalGain_Gain_f
                                        * Referenced by: '<S47>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_e0;     /* Computed Parameter: DerivativeGain_Gain_e0
                                        * Referenced by: '<S47>/Derivative Gain'
                                        */
  real32_T Filter_gainval_io;          /* Computed Parameter: Filter_gainval_io
                                        * Referenced by: '<S47>/Filter'
                                        */
  real32_T Filter_IC_f;                /* Computed Parameter: Filter_IC_f
                                        * Referenced by: '<S47>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_h;   /* Computed Parameter: FilterCoefficient_Gain_h
                                        * Referenced by: '<S47>/Filter Coefficient'
                                        */
  real32_T ProportionalGain_Gain_or;   /* Computed Parameter: ProportionalGain_Gain_or
                                        * Referenced by: '<S46>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_e;       /* Computed Parameter: Integrator_gainval_e
                                        * Referenced by: '<S46>/Integrator'
                                        */
  real32_T Integrator_IC_o;            /* Computed Parameter: Integrator_IC_o
                                        * Referenced by: '<S46>/Integrator'
                                        */
  real32_T DerivativeGain_Gain_dl;     /* Computed Parameter: DerivativeGain_Gain_dl
                                        * Referenced by: '<S46>/Derivative Gain'
                                        */
  real32_T Filter_gainval_b;           /* Computed Parameter: Filter_gainval_b
                                        * Referenced by: '<S46>/Filter'
                                        */
  real32_T Filter_IC_cm;               /* Computed Parameter: Filter_IC_cm
                                        * Referenced by: '<S46>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_c;   /* Computed Parameter: FilterCoefficient_Gain_c
                                        * Referenced by: '<S46>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_k;      /* Computed Parameter: Saturation_UpperSat_k
                                        * Referenced by: '<S46>/Saturation'
                                        */
  real32_T Saturation_LowerSat_e;      /* Computed Parameter: Saturation_LowerSat_e
                                        * Referenced by: '<S46>/Saturation'
                                        */
  real32_T Scalepitch_Gain_i;          /* Computed Parameter: Scalepitch_Gain_i
                                        * Referenced by: '<S37>/Scale pitch'
                                        */
  real32_T Limit1_UpperSat_m;          /* Computed Parameter: Limit1_UpperSat_m
                                        * Referenced by: '<S5>/Limit1'
                                        */
  real32_T Limit1_LowerSat_h;          /* Computed Parameter: Limit1_LowerSat_h
                                        * Referenced by: '<S5>/Limit1'
                                        */
  real32_T Limit2_UpperSat_g;          /* Computed Parameter: Limit2_UpperSat_g
                                        * Referenced by: '<S5>/Limit2'
                                        */
  real32_T Limit2_LowerSat_n;          /* Computed Parameter: Limit2_LowerSat_n
                                        * Referenced by: '<S5>/Limit2'
                                        */
  real32_T Limit3_UpperSat_h;          /* Computed Parameter: Limit3_UpperSat_h
                                        * Referenced by: '<S5>/Limit3'
                                        */
  real32_T Limit3_LowerSat_g;          /* Computed Parameter: Limit3_LowerSat_g
                                        * Referenced by: '<S5>/Limit3'
                                        */
  real32_T Limit4_UpperSat_f;          /* Computed Parameter: Limit4_UpperSat_f
                                        * Referenced by: '<S5>/Limit4'
                                        */
  real32_T Limit4_LowerSat_k;          /* Computed Parameter: Limit4_LowerSat_k
                                        * Referenced by: '<S5>/Limit4'
                                        */
  real32_T IntegralGain_Gain_a;        /* Computed Parameter: IntegralGain_Gain_a
                                        * Referenced by: '<S46>/Integral Gain'
                                        */
  real32_T Constant_Value_c;           /* Computed Parameter: Constant_Value_c
                                        * Referenced by: '<S46>/Constant'
                                        */
  real32_T IntegralGain_Gain_n;        /* Computed Parameter: IntegralGain_Gain_n
                                        * Referenced by: '<S51>/Integral Gain'
                                        */
  real32_T Constant_Value_cn;          /* Computed Parameter: Constant_Value_cn
                                        * Referenced by: '<S51>/Constant'
                                        */
  real32_T IntegralGain_Gain_m5;       /* Computed Parameter: IntegralGain_Gain_m5
                                        * Referenced by: '<S57>/Integral Gain'
                                        */
  real32_T Constant_Value_d;           /* Computed Parameter: Constant_Value_d
                                        * Referenced by: '<S57>/Constant'
                                        */
  real32_T PWMs_Y0[2];                 /* Computed Parameter: PWMs_Y0
                                        * Referenced by: '<S7>/PWMs'
                                        */
  real32_T Constant1_Value;            /* Computed Parameter: Constant1_Value
                                        * Referenced by: '<S7>/Constant1'
                                        */
  real32_T Constant2_Value;            /* Computed Parameter: Constant2_Value
                                        * Referenced by: '<S7>/Constant2'
                                        */
  real32_T Constant3_Value;            /* Computed Parameter: Constant3_Value
                                        * Referenced by: '<S7>/Constant3'
                                        */
  real32_T Constant4_Value;            /* Computed Parameter: Constant4_Value
                                        * Referenced by: '<S7>/Constant4'
                                        */
  real32_T DLookupTable_tableData_o[4];/* Computed Parameter: DLookupTable_tableData_o
                                        * Referenced by: '<S8>/1-D Lookup Table'
                                        */
  real32_T DLookupTable_bp01Data_f[4]; /* Computed Parameter: DLookupTable_bp01Data_f
                                        * Referenced by: '<S8>/1-D Lookup Table'
                                        */
  real32_T Scaleroll2_Gain_j;          /* Computed Parameter: Scaleroll2_Gain_j
                                        * Referenced by: '<S60>/Scale roll2'
                                        */
  real32_T ProportionalGain_Gain_i;    /* Computed Parameter: ProportionalGain_Gain_i
                                        * Referenced by: '<S63>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_b;       /* Computed Parameter: Integrator_gainval_b
                                        * Referenced by: '<S63>/Integrator'
                                        */
  real32_T Integrator_IC_p;            /* Computed Parameter: Integrator_IC_p
                                        * Referenced by: '<S63>/Integrator'
                                        */
  real32_T DerivativeGain_Gain_p;      /* Computed Parameter: DerivativeGain_Gain_p
                                        * Referenced by: '<S63>/Derivative Gain'
                                        */
  real32_T Filter_gainval_d;           /* Computed Parameter: Filter_gainval_d
                                        * Referenced by: '<S63>/Filter'
                                        */
  real32_T Filter_IC_ad;               /* Computed Parameter: Filter_IC_ad
                                        * Referenced by: '<S63>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_m;   /* Computed Parameter: FilterCoefficient_Gain_m
                                        * Referenced by: '<S63>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_pl;     /* Computed Parameter: Saturation_UpperSat_pl
                                        * Referenced by: '<S63>/Saturation'
                                        */
  real32_T Saturation_LowerSat_fc;     /* Computed Parameter: Saturation_LowerSat_fc
                                        * Referenced by: '<S63>/Saturation'
                                        */
  real32_T Scaleroll_Gain_p;           /* Computed Parameter: Scaleroll_Gain_p
                                        * Referenced by: '<S60>/Scale roll'
                                        */
  real32_T Scaleroll2_Gain_nk;         /* Computed Parameter: Scaleroll2_Gain_nk
                                        * Referenced by: '<S62>/Scale roll2'
                                        */
  real32_T ProportionalGain_Gain_oz;   /* Computed Parameter: ProportionalGain_Gain_oz
                                        * Referenced by: '<S67>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_io;      /* Computed Parameter: Integrator_gainval_io
                                        * Referenced by: '<S67>/Integrator'
                                        */
  real32_T Integrator_IC_kr;           /* Computed Parameter: Integrator_IC_kr
                                        * Referenced by: '<S67>/Integrator'
                                        */
  real32_T Saturation_UpperSat_lo;     /* Computed Parameter: Saturation_UpperSat_lo
                                        * Referenced by: '<S67>/Saturation'
                                        */
  real32_T Saturation_LowerSat_h;      /* Computed Parameter: Saturation_LowerSat_h
                                        * Referenced by: '<S67>/Saturation'
                                        */
  real32_T Scaleyaw_Gain_k;            /* Computed Parameter: Scaleyaw_Gain_k
                                        * Referenced by: '<S62>/Scale yaw'
                                        */
  real32_T Scaleroll2_Gain_o;          /* Computed Parameter: Scaleroll2_Gain_o
                                        * Referenced by: '<S61>/Scale roll2'
                                        */
  real32_T ProportionalGain_Gain_a0;   /* Computed Parameter: ProportionalGain_Gain_a0
                                        * Referenced by: '<S65>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_o;       /* Computed Parameter: Integrator_gainval_o
                                        * Referenced by: '<S65>/Integrator'
                                        */
  real32_T Integrator_IC_ms;           /* Computed Parameter: Integrator_IC_ms
                                        * Referenced by: '<S65>/Integrator'
                                        */
  real32_T DerivativeGain_Gain_gr;     /* Computed Parameter: DerivativeGain_Gain_gr
                                        * Referenced by: '<S65>/Derivative Gain'
                                        */
  real32_T Filter_gainval_ie;          /* Computed Parameter: Filter_gainval_ie
                                        * Referenced by: '<S65>/Filter'
                                        */
  real32_T Filter_IC_g;                /* Computed Parameter: Filter_IC_g
                                        * Referenced by: '<S65>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_ds;  /* Computed Parameter: FilterCoefficient_Gain_ds
                                        * Referenced by: '<S65>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_a2;     /* Computed Parameter: Saturation_UpperSat_a2
                                        * Referenced by: '<S65>/Saturation'
                                        */
  real32_T Saturation_LowerSat_ed;     /* Computed Parameter: Saturation_LowerSat_ed
                                        * Referenced by: '<S65>/Saturation'
                                        */
  real32_T Scalepitch_Gain_p;          /* Computed Parameter: Scalepitch_Gain_p
                                        * Referenced by: '<S61>/Scale pitch'
                                        */
  real32_T Limit1_UpperSat_o;          /* Computed Parameter: Limit1_UpperSat_o
                                        * Referenced by: '<S8>/Limit1'
                                        */
  real32_T Limit1_LowerSat_d;          /* Computed Parameter: Limit1_LowerSat_d
                                        * Referenced by: '<S8>/Limit1'
                                        */
  real32_T Limit2_UpperSat_l;          /* Computed Parameter: Limit2_UpperSat_l
                                        * Referenced by: '<S8>/Limit2'
                                        */
  real32_T Limit2_LowerSat_c;          /* Computed Parameter: Limit2_LowerSat_c
                                        * Referenced by: '<S8>/Limit2'
                                        */
  real32_T Limit3_UpperSat_e;          /* Computed Parameter: Limit3_UpperSat_e
                                        * Referenced by: '<S8>/Limit3'
                                        */
  real32_T Limit3_LowerSat_b;          /* Computed Parameter: Limit3_LowerSat_b
                                        * Referenced by: '<S8>/Limit3'
                                        */
  real32_T Limit4_UpperSat_l;          /* Computed Parameter: Limit4_UpperSat_l
                                        * Referenced by: '<S8>/Limit4'
                                        */
  real32_T Limit4_LowerSat_a;          /* Computed Parameter: Limit4_LowerSat_a
                                        * Referenced by: '<S8>/Limit4'
                                        */
  real32_T IntegralGain_Gain_m0;       /* Computed Parameter: IntegralGain_Gain_m0
                                        * Referenced by: '<S63>/Integral Gain'
                                        */
  real32_T Constant_Value_m;           /* Computed Parameter: Constant_Value_m
                                        * Referenced by: '<S63>/Constant'
                                        */
  real32_T IntegralGain_Gain_f;        /* Computed Parameter: IntegralGain_Gain_f
                                        * Referenced by: '<S65>/Integral Gain'
                                        */
  real32_T Constant_Value_mm;          /* Computed Parameter: Constant_Value_mm
                                        * Referenced by: '<S65>/Constant'
                                        */
  real32_T IntegralGain_Gain_j;        /* Computed Parameter: IntegralGain_Gain_j
                                        * Referenced by: '<S67>/Integral Gain'
                                        */
  real32_T Constant_Value_k;           /* Computed Parameter: Constant_Value_k
                                        * Referenced by: '<S67>/Constant'
                                        */
  real32_T DLookupTable_tableData_c[4];/* Computed Parameter: DLookupTable_tableData_c
                                        * Referenced by: '<S9>/1-D Lookup Table'
                                        */
  real32_T DLookupTable_bp01Data_h[4]; /* Computed Parameter: DLookupTable_bp01Data_h
                                        * Referenced by: '<S9>/1-D Lookup Table'
                                        */
  real32_T Scaleroll2_Gain_d;          /* Computed Parameter: Scaleroll2_Gain_d
                                        * Referenced by: '<S69>/Scale roll2'
                                        */
  real32_T ProportionalGain_Gain_nv;   /* Computed Parameter: ProportionalGain_Gain_nv
                                        * Referenced by: '<S73>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_m;      /* Computed Parameter: DerivativeGain_Gain_m
                                        * Referenced by: '<S73>/Derivative Gain'
                                        */
  real32_T Filter_gainval_ga;          /* Computed Parameter: Filter_gainval_ga
                                        * Referenced by: '<S73>/Filter'
                                        */
  real32_T Filter_IC_k0;               /* Computed Parameter: Filter_IC_k0
                                        * Referenced by: '<S73>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_f;   /* Computed Parameter: FilterCoefficient_Gain_f
                                        * Referenced by: '<S73>/Filter Coefficient'
                                        */
  real32_T ProportionalGain_Gain_ds;   /* Computed Parameter: ProportionalGain_Gain_ds
                                        * Referenced by: '<S72>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_i5;      /* Computed Parameter: Integrator_gainval_i5
                                        * Referenced by: '<S72>/Integrator'
                                        */
  real32_T Integrator_IC_f;            /* Computed Parameter: Integrator_IC_f
                                        * Referenced by: '<S72>/Integrator'
                                        */
  real32_T DerivativeGain_Gain_b;      /* Computed Parameter: DerivativeGain_Gain_b
                                        * Referenced by: '<S72>/Derivative Gain'
                                        */
  real32_T Filter_gainval_bh;          /* Computed Parameter: Filter_gainval_bh
                                        * Referenced by: '<S72>/Filter'
                                        */
  real32_T Filter_IC_e;                /* Computed Parameter: Filter_IC_e
                                        * Referenced by: '<S72>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_ck;  /* Computed Parameter: FilterCoefficient_Gain_ck
                                        * Referenced by: '<S72>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_pd;     /* Computed Parameter: Saturation_UpperSat_pd
                                        * Referenced by: '<S72>/Saturation'
                                        */
  real32_T Saturation_LowerSat_nf;     /* Computed Parameter: Saturation_LowerSat_nf
                                        * Referenced by: '<S72>/Saturation'
                                        */
  real32_T Scaleroll_Gain_d;           /* Computed Parameter: Scaleroll_Gain_d
                                        * Referenced by: '<S69>/Scale roll'
                                        */
  real32_T Scaleroll2_Gain_f;          /* Computed Parameter: Scaleroll2_Gain_f
                                        * Referenced by: '<S71>/Scale roll2'
                                        */
  real32_T ProportionalGain_Gain_l;    /* Computed Parameter: ProportionalGain_Gain_l
                                        * Referenced by: '<S78>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_a;       /* Computed Parameter: Integrator_gainval_a
                                        * Referenced by: '<S78>/Integrator'
                                        */
  real32_T Integrator_IC_i;            /* Computed Parameter: Integrator_IC_i
                                        * Referenced by: '<S78>/Integrator'
                                        */
  real32_T Saturation_UpperSat_bm;     /* Computed Parameter: Saturation_UpperSat_bm
                                        * Referenced by: '<S78>/Saturation'
                                        */
  real32_T Saturation_LowerSat_eu;     /* Computed Parameter: Saturation_LowerSat_eu
                                        * Referenced by: '<S78>/Saturation'
                                        */
  real32_T Scaleyaw_Gain_g;            /* Computed Parameter: Scaleyaw_Gain_g
                                        * Referenced by: '<S71>/Scale yaw'
                                        */
  real32_T Scalepitch1_Gain_d;         /* Computed Parameter: Scalepitch1_Gain_d
                                        * Referenced by: '<S70>/Scale pitch1'
                                        */
  real32_T ProportionalGain_Gain_ph;   /* Computed Parameter: ProportionalGain_Gain_ph
                                        * Referenced by: '<S76>/Proportional Gain'
                                        */
  real32_T DerivativeGain_Gain_fg;     /* Computed Parameter: DerivativeGain_Gain_fg
                                        * Referenced by: '<S76>/Derivative Gain'
                                        */
  real32_T Filter_gainval_e3;          /* Computed Parameter: Filter_gainval_e3
                                        * Referenced by: '<S76>/Filter'
                                        */
  real32_T Filter_IC_kv;               /* Computed Parameter: Filter_IC_kv
                                        * Referenced by: '<S76>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_n;   /* Computed Parameter: FilterCoefficient_Gain_n
                                        * Referenced by: '<S76>/Filter Coefficient'
                                        */
  real32_T ProportionalGain_Gain_oo1;  /* Computed Parameter: ProportionalGain_Gain_oo1
                                        * Referenced by: '<S75>/Proportional Gain'
                                        */
  real32_T Integrator_gainval_f;       /* Computed Parameter: Integrator_gainval_f
                                        * Referenced by: '<S75>/Integrator'
                                        */
  real32_T Integrator_IC_gk;           /* Computed Parameter: Integrator_IC_gk
                                        * Referenced by: '<S75>/Integrator'
                                        */
  real32_T DerivativeGain_Gain_c;      /* Computed Parameter: DerivativeGain_Gain_c
                                        * Referenced by: '<S75>/Derivative Gain'
                                        */
  real32_T Filter_gainval_f;           /* Computed Parameter: Filter_gainval_f
                                        * Referenced by: '<S75>/Filter'
                                        */
  real32_T Filter_IC_es;               /* Computed Parameter: Filter_IC_es
                                        * Referenced by: '<S75>/Filter'
                                        */
  real32_T FilterCoefficient_Gain_ir;  /* Computed Parameter: FilterCoefficient_Gain_ir
                                        * Referenced by: '<S75>/Filter Coefficient'
                                        */
  real32_T Saturation_UpperSat_fd;     /* Computed Parameter: Saturation_UpperSat_fd
                                        * Referenced by: '<S75>/Saturation'
                                        */
  real32_T Saturation_LowerSat_l;      /* Computed Parameter: Saturation_LowerSat_l
                                        * Referenced by: '<S75>/Saturation'
                                        */
  real32_T Scalepitch_Gain_m;          /* Computed Parameter: Scalepitch_Gain_m
                                        * Referenced by: '<S70>/Scale pitch'
                                        */
  real32_T Limit1_UpperSat_a;          /* Computed Parameter: Limit1_UpperSat_a
                                        * Referenced by: '<S9>/Limit1'
                                        */
  real32_T Limit1_LowerSat_i;          /* Computed Parameter: Limit1_LowerSat_i
                                        * Referenced by: '<S9>/Limit1'
                                        */
  real32_T Limit2_UpperSat_o;          /* Computed Parameter: Limit2_UpperSat_o
                                        * Referenced by: '<S9>/Limit2'
                                        */
  real32_T Limit2_LowerSat_d;          /* Computed Parameter: Limit2_LowerSat_d
                                        * Referenced by: '<S9>/Limit2'
                                        */
  real32_T Limit3_UpperSat_g;          /* Computed Parameter: Limit3_UpperSat_g
                                        * Referenced by: '<S9>/Limit3'
                                        */
  real32_T Limit3_LowerSat_a;          /* Computed Parameter: Limit3_LowerSat_a
                                        * Referenced by: '<S9>/Limit3'
                                        */
  real32_T Limit4_UpperSat_h;          /* Computed Parameter: Limit4_UpperSat_h
                                        * Referenced by: '<S9>/Limit4'
                                        */
  real32_T Limit4_LowerSat_h;          /* Computed Parameter: Limit4_LowerSat_h
                                        * Referenced by: '<S9>/Limit4'
                                        */
  real32_T IntegralGain_Gain_is;       /* Computed Parameter: IntegralGain_Gain_is
                                        * Referenced by: '<S72>/Integral Gain'
                                        */
  real32_T Constant_Value_a;           /* Computed Parameter: Constant_Value_a
                                        * Referenced by: '<S72>/Constant'
                                        */
  real32_T IntegralGain_Gain_k;        /* Computed Parameter: IntegralGain_Gain_k
                                        * Referenced by: '<S75>/Integral Gain'
                                        */
  real32_T Constant_Value_b;           /* Computed Parameter: Constant_Value_b
                                        * Referenced by: '<S75>/Constant'
                                        */
  real32_T IntegralGain_Gain_l;        /* Computed Parameter: IntegralGain_Gain_l
                                        * Referenced by: '<S78>/Integral Gain'
                                        */
  real32_T Constant_Value_my;          /* Computed Parameter: Constant_Value_my
                                        * Referenced by: '<S78>/Constant'
                                        */
  real32_T DiscreteFIRFilter_InitialStates;/* Computed Parameter: DiscreteFIRFilter_InitialStates
                                            * Referenced by: '<S4>/Discrete FIR Filter'
                                            */
  real32_T DiscreteFIRFilter_Coefficients[10];/* Computed Parameter: DiscreteFIRFilter_Coefficients
                                               * Referenced by: '<S4>/Discrete FIR Filter'
                                               */
  real32_T Bias2_Bias;                 /* Computed Parameter: Bias2_Bias
                                        * Referenced by: '<S4>/Bias2'
                                        */
  real32_T DiscreteFIRFilter1_InitialState;/* Computed Parameter: DiscreteFIRFilter1_InitialState
                                            * Referenced by: '<S4>/Discrete FIR Filter1'
                                            */
  real32_T DiscreteFIRFilter1_Coefficients[10];/* Computed Parameter: DiscreteFIRFilter1_Coefficients
                                                * Referenced by: '<S4>/Discrete FIR Filter1'
                                                */
  real32_T Bias_Bias;                  /* Computed Parameter: Bias_Bias
                                        * Referenced by: '<S4>/Bias'
                                        */
  real32_T DiscreteFIRFilter2_InitialState;/* Computed Parameter: DiscreteFIRFilter2_InitialState
                                            * Referenced by: '<S4>/Discrete FIR Filter2'
                                            */
  real32_T DiscreteFIRFilter2_Coefficients[10];/* Computed Parameter: DiscreteFIRFilter2_Coefficients
                                                * Referenced by: '<S4>/Discrete FIR Filter2'
                                                */
  real32_T Bias1_Bias;                 /* Computed Parameter: Bias1_Bias
                                        * Referenced by: '<S4>/Bias1'
                                        */
  real32_T Invert_Gain;                /* Computed Parameter: Invert_Gain
                                        * Referenced by: '<S4>/Invert'
                                        */
};

/* Real-time Model Data Structure */
struct RT_MODEL_Ctrl {
  const char_T * volatile errorStatus;
};

/* Class declaration for model Ctrl */
class CtrlModelClass {
  /* public data and function members */
 public:
  /* External inputs */
  ExternalInputs_Ctrl Ctrl_U;

  /* External outputs */
  ExternalOutputs_Ctrl Ctrl_Y;

  /* Model entry point functions */

  /* model initialize function */
  void initialize();

  /* model step function */
  void step();

  /* model terminate function */
  void terminate();

  /* Constructor */
  CtrlModelClass();

  /* Destructor */
  ~CtrlModelClass();

  /* Real-Time Model get method */
  RT_MODEL_Ctrl * getRTM() const;

  /* private data and function members */
 private:
  /* Tunable parameters */
  Parameters_Ctrl Ctrl_P;

  /* Block signals */
  BlockIO_Ctrl Ctrl_B;

  /* Block states */
  D_Work_Ctrl Ctrl_DWork;

  /* Real-Time Model */
  RT_MODEL_Ctrl Ctrl_M_;

  /* Real-Time Model pointer */
  RT_MODEL_Ctrl *Ctrl_M;

  /* private member function(s) for subsystem '<Root>' */
  void Ctrl_SetOutputs(uint32_T state);
};

/*-
 * The generated code includes comments that allow you to trace directly
 * back to the appropriate location in the model.  The basic format
 * is <system>/block_name, where system is the system number (uniquely
 * assigned by Simulink) and block_name is the name of the block.
 *
 * Note that this particular code originates from a subsystem build,
 * and has its own system numbers different from the parent model.
 * Refer to the system hierarchy for this subsystem below, and use the
 * MATLAB hilite_system command to trace the generated code back
 * to the parent model.  For example,
 *
 * hilite_system('Q10Model/Ctrl')    - opens subsystem Q10Model/Ctrl
 * hilite_system('Q10Model/Ctrl/Kp') - opens and selects block Kp
 *
 * Here is the system hierarchy for this model
 *
 * '<Root>' : 'Q10Model'
 * '<S1>'   : 'Q10Model/Ctrl'
 * '<S2>'   : 'Q10Model/Ctrl/AltCalculator'
 * '<S3>'   : 'Q10Model/Ctrl/AltCtrl'
 * '<S4>'   : 'Q10Model/Ctrl/Angleconverter'
 * '<S5>'   : 'Q10Model/Ctrl/AutoCtrl'
 * '<S6>'   : 'Q10Model/Ctrl/Chart'
 * '<S7>'   : 'Q10Model/Ctrl/Off'
 * '<S8>'   : 'Q10Model/Ctrl/RateCtrl'
 * '<S9>'   : 'Q10Model/Ctrl/RollPitchCtrl'
 * '<S10>'  : 'Q10Model/Ctrl/AltCalculator/Embedded MATLAB Function2'
 * '<S11>'  : 'Q10Model/Ctrl/AltCalculator/Subsystem'
 * '<S12>'  : 'Q10Model/Ctrl/AltCalculator/Subsystem/MATLAB Function'
 * '<S13>'  : 'Q10Model/Ctrl/AltCtrl/Altitude Contrller'
 * '<S14>'  : 'Q10Model/Ctrl/AltCtrl/Pitch Controller'
 * '<S15>'  : 'Q10Model/Ctrl/AltCtrl/Roll Controller'
 * '<S16>'  : 'Q10Model/Ctrl/AltCtrl/Velocity Ctrl'
 * '<S17>'  : 'Q10Model/Ctrl/AltCtrl/Yaw Controller'
 * '<S18>'  : 'Q10Model/Ctrl/AltCtrl/Altitude Contrller/Derivate'
 * '<S19>'  : 'Q10Model/Ctrl/AltCtrl/Altitude Contrller/Discrete PID Controller'
 * '<S20>'  : 'Q10Model/Ctrl/AltCtrl/Altitude Contrller/Discrete PID Controller1'
 * '<S21>'  : 'Q10Model/Ctrl/AltCtrl/Altitude Contrller/Discrete PID Controller/Clamping circuit'
 * '<S22>'  : 'Q10Model/Ctrl/AltCtrl/Pitch Controller/Discrete PID Controller'
 * '<S23>'  : 'Q10Model/Ctrl/AltCtrl/Pitch Controller/Discrete PID Controller1'
 * '<S24>'  : 'Q10Model/Ctrl/AltCtrl/Pitch Controller/Discrete PID Controller/Clamping circuit'
 * '<S25>'  : 'Q10Model/Ctrl/AltCtrl/Roll Controller/Discrete PID Controller'
 * '<S26>'  : 'Q10Model/Ctrl/AltCtrl/Roll Controller/Discrete PID Controller1'
 * '<S27>'  : 'Q10Model/Ctrl/AltCtrl/Roll Controller/Discrete PID Controller/Clamping circuit'
 * '<S28>'  : 'Q10Model/Ctrl/AltCtrl/Velocity Ctrl/Discrete PID Controller1'
 * '<S29>'  : 'Q10Model/Ctrl/AltCtrl/Velocity Ctrl/Discrete PID Controller2'
 * '<S30>'  : 'Q10Model/Ctrl/AltCtrl/Yaw Controller/Correct Yaw'
 * '<S31>'  : 'Q10Model/Ctrl/AltCtrl/Yaw Controller/Discrete PID Controller'
 * '<S32>'  : 'Q10Model/Ctrl/AltCtrl/Yaw Controller/Discrete PID Controller1'
 * '<S33>'  : 'Q10Model/Ctrl/AltCtrl/Yaw Controller/Discrete PID Controller/Clamping circuit'
 * '<S34>'  : 'Q10Model/Ctrl/Angleconverter/Embedded MATLAB Function1'
 * '<S35>'  : 'Q10Model/Ctrl/Angleconverter/MATLAB Function'
 * '<S36>'  : 'Q10Model/Ctrl/AutoCtrl/Altitude Contrller'
 * '<S37>'  : 'Q10Model/Ctrl/AutoCtrl/Pitch Controller'
 * '<S38>'  : 'Q10Model/Ctrl/AutoCtrl/Position Ctrl'
 * '<S39>'  : 'Q10Model/Ctrl/AutoCtrl/Roll Controller'
 * '<S40>'  : 'Q10Model/Ctrl/AutoCtrl/Velocity Ctrl'
 * '<S41>'  : 'Q10Model/Ctrl/AutoCtrl/Yaw Controller'
 * '<S42>'  : 'Q10Model/Ctrl/AutoCtrl/Altitude Contrller/Derivate'
 * '<S43>'  : 'Q10Model/Ctrl/AutoCtrl/Altitude Contrller/Discrete PID Controller'
 * '<S44>'  : 'Q10Model/Ctrl/AutoCtrl/Altitude Contrller/Discrete PID Controller1'
 * '<S45>'  : 'Q10Model/Ctrl/AutoCtrl/Altitude Contrller/Discrete PID Controller/Clamping circuit'
 * '<S46>'  : 'Q10Model/Ctrl/AutoCtrl/Pitch Controller/Discrete PID Controller'
 * '<S47>'  : 'Q10Model/Ctrl/AutoCtrl/Pitch Controller/Discrete PID Controller1'
 * '<S48>'  : 'Q10Model/Ctrl/AutoCtrl/Pitch Controller/Discrete PID Controller/Clamping circuit'
 * '<S49>'  : 'Q10Model/Ctrl/AutoCtrl/Position Ctrl/Discrete PID Controller1'
 * '<S50>'  : 'Q10Model/Ctrl/AutoCtrl/Position Ctrl/Discrete PID Controller2'
 * '<S51>'  : 'Q10Model/Ctrl/AutoCtrl/Roll Controller/Discrete PID Controller'
 * '<S52>'  : 'Q10Model/Ctrl/AutoCtrl/Roll Controller/Discrete PID Controller1'
 * '<S53>'  : 'Q10Model/Ctrl/AutoCtrl/Roll Controller/Discrete PID Controller/Clamping circuit'
 * '<S54>'  : 'Q10Model/Ctrl/AutoCtrl/Velocity Ctrl/Discrete PID Controller1'
 * '<S55>'  : 'Q10Model/Ctrl/AutoCtrl/Velocity Ctrl/Discrete PID Controller2'
 * '<S56>'  : 'Q10Model/Ctrl/AutoCtrl/Yaw Controller/Correct Yaw'
 * '<S57>'  : 'Q10Model/Ctrl/AutoCtrl/Yaw Controller/Discrete PID Controller'
 * '<S58>'  : 'Q10Model/Ctrl/AutoCtrl/Yaw Controller/Discrete PID Controller1'
 * '<S59>'  : 'Q10Model/Ctrl/AutoCtrl/Yaw Controller/Discrete PID Controller/Clamping circuit'
 * '<S60>'  : 'Q10Model/Ctrl/RateCtrl/Roll Controller'
 * '<S61>'  : 'Q10Model/Ctrl/RateCtrl/Roll Controller1'
 * '<S62>'  : 'Q10Model/Ctrl/RateCtrl/Roll Controller2'
 * '<S63>'  : 'Q10Model/Ctrl/RateCtrl/Roll Controller/Discrete PID Controller'
 * '<S64>'  : 'Q10Model/Ctrl/RateCtrl/Roll Controller/Discrete PID Controller/Clamping circuit'
 * '<S65>'  : 'Q10Model/Ctrl/RateCtrl/Roll Controller1/Discrete PID Controller'
 * '<S66>'  : 'Q10Model/Ctrl/RateCtrl/Roll Controller1/Discrete PID Controller/Clamping circuit'
 * '<S67>'  : 'Q10Model/Ctrl/RateCtrl/Roll Controller2/Discrete PID Controller'
 * '<S68>'  : 'Q10Model/Ctrl/RateCtrl/Roll Controller2/Discrete PID Controller/Clamping circuit'
 * '<S69>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller'
 * '<S70>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller1'
 * '<S71>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller2'
 * '<S72>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller/Discrete PID Controller'
 * '<S73>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller/Discrete PID Controller1'
 * '<S74>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller/Discrete PID Controller/Clamping circuit'
 * '<S75>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller1/Discrete PID Controller'
 * '<S76>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller1/Discrete PID Controller1'
 * '<S77>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller1/Discrete PID Controller/Clamping circuit'
 * '<S78>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller2/Discrete PID Controller'
 * '<S79>'  : 'Q10Model/Ctrl/RollPitchCtrl/Roll Controller2/Discrete PID Controller/Clamping circuit'
 */
#endif                                 /* RTW_HEADER_Ctrl_h_ */

/*
 * File trailer for generated code.
 *
 * [EOF]
 */
